DockerfileBase

ARG cuda_version=9.0
ARG cudnn_version=7
ARG ubuntu_version=16.04

FROM nvidia/cudagl:${cuda_version}-devel-ubuntu${ubuntu_version}
#use the below command if you need cudnn
# FROM nvidia/cuda:${cuda_version}-cudnn${cudnn_version}-devel-ubuntu16.04

#seem to get libgl issues when using the below now? was working before...
#https://github.com/osrf/docker_images/blob/master/ros/kinetic/ubuntu/xenial/desktop-full/Dockerfile
#FROM osrf/ros:kinetic-desktop-xenial

# Install some useful basics
RUN apt-get update && \
    apt-get install -y \
      curl \
      build-essential \
      cmake \
      software-properties-common \
      psmisc \
      htop \
      mesa-utils \
      git-all \
      apt-transport-https \ 
      sudo \
      && \
    rm -rf /var/lib/apt/lists/*

## setup sources.list for ROS
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
    sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# install ros
RUN apt-get update && apt-get install -y \
    ros-kinetic-desktop-full \
    && rm -rf /var/lib/apt/lists/*

ARG WS=/workspace
RUN mkdir -p $WS
WORKDIR $WS

ENV PKG_CONFIG_PATH=/workspace/install/lib/pkgconfig:/workspace/install/share/pkgconfig:$PKG_CONFIG_PATH
ADD .git /workspace/.git

#Install libfranka from source (as an example of how to build/install libraries)
ADD libfranka $WS/libfranka
RUN cd $WS/libfranka && \
    rm -rf build && \
    mkdir build && \
    cd build && \
    cmake .. && \
    make && \
    make install && \
    cd $WS && rm -rf libfranka/build

RUN apt-get update && \
    apt-get install -q -y \
    wget \
    && \
    rm -rf /var/lib/apt/lists/*
#Upgrade Gazebo
RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
RUN wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
RUN apt-get update && apt-get install --no-install-recommends -y \
    gazebo7 \
    && rm -rf /var/lib/apt/lists/*
    
# install Panda robot dependencies + any other packages that are needed
RUN apt-get update && \
    apt-get install -q -y \
	#ros-kinetic-libfranka \
	ros-kinetic-gazebo-ros-pkgs \
	ros-kinetic-gazebo-ros-control \
	ros-kinetic-joint-state-controller \
	ros-kinetic-effort-controllers \
	ros-kinetic-joint-trajectory-controller \
	ros-kinetic-franka-ros \
	ros-kinetic-moveit-simple-controller-manager \
	ros-kinetic-joint-trajectory-controller \ 
	ros-kinetic-robot-state-publisher \
	ros-kinetic-moveit-planners-ompl \
	ros-kinetic-joint-state-publisher \
	ros-kinetic-moveit-simple-controller-manager \
	ros-kinetic-xacro \
	ros-kinetic-moveit-ros-visualization \
	ros-kinetic-gazebo-ros \
	ros-kinetic-camera-info-manager \
	ros-kinetic-moveit-visual-tools \
	ros-kinetic-position-controllers \
	ros-kinetic-trac-ik-kinematics-plugin \
	ros-kinetic-node-manager-fkie \
	ros-kinetic-eigen-conversions \
	ros-kinetic-object-recognition-msgs \
	ros-kinetic-roslint \
	libignition-math2-dev \
	ros-kinetic-moveit-commander && \
    rm -rf /var/lib/apt/lists/*



# setup entrypoint
COPY ./docker_entrypoint.sh /
ENTRYPOINT ["/docker_entrypoint.sh"]
CMD ["bash"]